[Isaac Sim] Franka Robot Falls Down when using GPU Dynamics, and Strange Wrist Link Model

[Hammad_M]

@736978497 I think the gap issue is related to the collision offset:

Gap deformable body contacts

I encounter strange behaviour when using deformable bodies in Isaac Sim. When simulating deformable bodies, they never seem to touch other objects in the scene. This can clearly be seen in the picture below. Is there a reason for this and is it possible to avoid this or at least diminish the effect? [Screenshot from 2021-12-04 17-38-28] Thanks in advance.